"""
Link.py --

This file implements the Link class.

Date of creation: 2010-15-11

Copyright
Julian David Colorado, jd.colorado@upm.es
Universidad Politecnica de Madrid

See the file "license.terms" for information on usage and redistribution of this file, and for a
DISCLAIMER OF ALL WARRANTIES.

"""
import vtk
from numpy import *

class Link:
	""" system's Link class definition"""
	def __init__(self, type ):
		"""Initializes a Link object """

		#class parameters
		#Link's DH parameters ( alpha, a, theta, d )
		self.DHvec=matrix([ [0.0]*4 ])

		#Link's Homogeneus Matrix Transformation
		self.HMT = vtk.vtkMatrix4x4()

		#Link's VTK Transform
		self.Trans = vtk.vtkTransform()
		self.Type = type

	def returnLinkType( self ):
		""" returns the Link's type"""
		return self.Type






